Compare ⋅ JuliaPOMDP/ParticleFilters.jl

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src/fjord.jl changed.

@@ -27,9 +27,9 @@

Loading

27	27		plt = plot_terrain_ac_particles(0,4,particles)
28	28		savefig(plt,"test_terrain.png")
29	29		"""
30		-	function plot_terrain_ac_particles(xpos,ypos,particles)
	30	+	function plot_terrain_ac(xpos,ypos)
31	31		#@show "terrain plotter being called"
32		-	X = xpos[1] - 0.6 .+ [-1, -0.1, -0.09, 0.3, 0.7, 0.8, 0.7, 0.3, -0.09, -0.1, -1];
	32	+	X = xpos[1] - 0.6 .+ [-1,-0.1,-0.09,0.3,0.7,0.8,0.7, 0.3, -0.09, -0.1, -1];
33	33		Y = ypos .+ [-0.05, -0.05, -0.4, -0.05, -0.05,0, 0.05, 0.05, 0.4, 0.05, 0.05];
34	34
35	35		# Here are the mountains

@@ -40,9 +40,9 @@

Loading

	# Call the ground function on the x locations that are deemed as mountain above
	Mountains = map.(ground,plotVectorMountains)

	plt = plot(plotVectorMountains,Mountains,leg=false) # Plot the terrain
	plot!(X,Y,leg=false) # Plot the aircraft
	scatter!(particles,4*ones(length(particles)),leg=false)
	plt = plot(plotVectorMountains,Mountains,label="Terrain") # Plot the terrain
	plot!(X,Y,label="Aircraft") # Plot the aircraft
	
	return plt
end


@@ -51,13 +51,12 @@

Loading

Take input array of plots and convert to gif animation
"""
function write_particles_gif(plots)
@show "Making gif"
	print("\n Making gif\n")
	frames = Frames(MIME("image/png"), fps=5)
	for plt in plots
	    print(".")
	    push!(frames, plt)
	end
	write("fjord.gif", frames)
	write("../img/Fjord/26June/fjord.mp4", frames)
	return nothing
end # End of the reel gif writing function


@@ -68,7 +67,7 @@

Loading

	dt = 0.1 # time step

	ypos = 4 # Height of the aircraft stays constant
	meas_stdev = 0.1
	meas_stdev = 2
	A = [1]
	B = [0]
	f(x, u, rng) = x #+ [1.0] # Investigating fixed state

@@ -77,39 +76,51 @@

Loading


	model = ParticleFilterModel{Vector{Float64}}(f, g)

	N = 1000  # Rpb: Was 1000 before
	N = 50  # Rpb: Was 1000 before

	filter_sir = SIRParticleFilter(model, N) # This was originally present
	filter_cem = CEMParticleFilter(model, N) # This is the cem filter

	b = ParticleCollection([[80.0*rand(1)[1]-40.0] for i in 1:N])
	b_sir = ParticleCollection([[80.0*rand(1)[1]-40.0] for i in 1:N])
	b_cem = b_sir

	x = [-25.0]

	plots = []
plt = plot_terrain_ac_particles(x,ypos,particles(b))
push!(plots,plt)
	
	plt = plot_terrain_ac(x,ypos)
	scatter!([p[1] for p in particles(b_sir)],[ypos for p in particles(b_sir)],label="SIR",xlim=(-30,30),color=:blue)

	scatter!([p[1] for p in particles(b_cem)],[ypos for p in particles(b_cem)],label="CEM",xlim=(-30,30),color=:green)

#	scatter!(particles(b_sir),4*ones(length(particles(b_sir))),label="SIR",xlim=(-30,30),color=:blue)
# 	scatter!(particles(b_cem),4*ones(length(particles(b_cem))),label="CEM",xlim=(-30,30),color=:green)
	push!(plots,plt)
	for i in 1:50    #RpB: was 100 before
	    print(".")
	    u = 1
	    x = f(x, u, rng)
#@show x
	    y = h(x, rng)
#@show y
	    b = update(filter_cem, b, u, y)

#@show particles(b)
		#print(".")
		u = 1
		x = f(x, u, rng)
		y = h(x, rng)
		b_sir = update(filter_sir, b_sir, u, y)

		# RpB: This is the update_cem
		#b_cem = update(filter_cem,b,u,y)
#@show particles(b_cem)
	    plt = plot_terrain_ac_particles(x,ypos,particles(b))
	    push!(plots, plt)
		b_cem = update(filter_cem,b_cem,u,y)

		plt = plot_terrain_ac(x,ypos)

	scatter!([p[1] for p in particles(b_sir)],[ypos for p in particles(b_sir)],label="SIR",xlim=(-30,30),color=:blue)

	scatter!([p[1] for p in particles(b_cem)],[ypos for p in particles(b_cem)],label="CEM",xlim=(-30,30),color=:green)

#		scatter!(particles(b_sir),4*ones(length(particles(b_sir))),label="SIR",xlim=(-30,30),color=:blue)
#		scatter!(particles(b_cem),4*ones(length(particles(b_cem))),label="CEM",xlim=(-30,30),color=:green)
	
		push!(plots, plt)
	end
	return plots
end # End of the runexp function



@show "Sandbox says: Calling runexp"
plots = runexp()


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Files		•	•	•	Coverage
src	+3	ø	ø	+3	^-0.14% 20.76%
Project Totals (16 files)	448	93	0	355	20.76%

51	51		Take input array of plots and convert to gif animation
52	52		"""
53	53		function write_particles_gif(plots)
54		-	@show "Making gif"
	54	+	print("\n Making gif\n")
55	55		frames = Frames(MIME("image/png"), fps=5)
56	56		for plt in plots
57		-	print(".")
58	57		push!(frames, plt)
59	58		end
60		-	write("fjord.gif", frames)
	59	+	write("../img/Fjord/26June/fjord.mp4", frames)
61	60		return nothing
62	61		end # End of the reel gif writing function
63	62

68	67		dt = 0.1 # time step
69	68
70	69		ypos = 4 # Height of the aircraft stays constant
71		-	meas_stdev = 0.1
	70	+	meas_stdev = 2
72	71		A = [1]
73	72		B = [0]
74	73		f(x, u, rng) = x #+ [1.0] # Investigating fixed state

77	76
78	77		model = ParticleFilterModel{Vector{Float64}}(f, g)
79	78
80		-	N = 1000 # Rpb: Was 1000 before
	79	+	N = 50 # Rpb: Was 1000 before
81	80
82	81		filter_sir = SIRParticleFilter(model, N) # This was originally present
83	82		filter_cem = CEMParticleFilter(model, N) # This is the cem filter
84	83
85		-	b = ParticleCollection([[80.0*rand(1)[1]-40.0] for i in 1:N])
	84	+	b_sir = ParticleCollection([[80.0*rand(1)[1]-40.0] for i in 1:N])
	85	+	b_cem = b_sir
86	86
87	87		x = [-25.0]
88	88
89	89		plots = []
90		-	plt = plot_terrain_ac_particles(x,ypos,particles(b))
91		-	push!(plots,plt)
	90	+
	91	+	plt = plot_terrain_ac(x,ypos)
	92	+	scatter!([p[1] for p in particles(b_sir)],[ypos for p in particles(b_sir)],label="SIR",xlim=(-30,30),color=:blue)
	93	+
	94	+	scatter!([p[1] for p in particles(b_cem)],[ypos for p in particles(b_cem)],label="CEM",xlim=(-30,30),color=:green)
	95	+
	96	+	# scatter!(particles(b_sir),4*ones(length(particles(b_sir))),label="SIR",xlim=(-30,30),color=:blue)
	97	+	# scatter!(particles(b_cem),4*ones(length(particles(b_cem))),label="CEM",xlim=(-30,30),color=:green)
	98	+	push!(plots,plt)
92	99		for i in 1:50 #RpB: was 100 before
93		-	print(".")
94		-	u = 1
95		-	x = f(x, u, rng)
96		-	#@show x
97		-	y = h(x, rng)
98		-	#@show y
99		-	b = update(filter_cem, b, u, y)
100		-
101		-	#@show particles(b)
	100	+	#print(".")
	101	+	u = 1
	102	+	x = f(x, u, rng)
	103	+	y = h(x, rng)
	104	+	b_sir = update(filter_sir, b_sir, u, y)
	105	+
102	106		# RpB: This is the update_cem
103		-	#b_cem = update(filter_cem,b,u,y)
104		-	#@show particles(b_cem)
105		-	plt = plot_terrain_ac_particles(x,ypos,particles(b))
106		-	push!(plots, plt)
	107	+	b_cem = update(filter_cem,b_cem,u,y)
	108	+
	109	+	plt = plot_terrain_ac(x,ypos)
	110	+
	111	+	scatter!([p[1] for p in particles(b_sir)],[ypos for p in particles(b_sir)],label="SIR",xlim=(-30,30),color=:blue)
	112	+
	113	+	scatter!([p[1] for p in particles(b_cem)],[ypos for p in particles(b_cem)],label="CEM",xlim=(-30,30),color=:green)
	114	+
	115	+	# scatter!(particles(b_sir),4*ones(length(particles(b_sir))),label="SIR",xlim=(-30,30),color=:blue)
	116	+	# scatter!(particles(b_cem),4*ones(length(particles(b_cem))),label="CEM",xlim=(-30,30),color=:green)
	117	+
	118	+	push!(plots, plt)
107	119		end
108	120		return plots
109	121		end # End of the runexp function
110	122
111	123
112		-
113	124		@show "Sandbox says: Calling runexp"
114	125		plots = runexp()
115	126

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40	40		# Call the ground function on the x locations that are deemed as mountain above
41	41		Mountains = map.(ground,plotVectorMountains)
42	42
43		-	plt = plot(plotVectorMountains,Mountains,leg=false) # Plot the terrain
44		-	plot!(X,Y,leg=false) # Plot the aircraft
45		-	scatter!(particles,4*ones(length(particles)),leg=false)
	43	+	plt = plot(plotVectorMountains,Mountains,label="Terrain") # Plot the terrain
	44	+	plot!(X,Y,label="Aircraft") # Plot the aircraft
	45	+
46	46		return plt
47	47		end
48	48

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